diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index 4e7ab3fff6..3b5987ef8f 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -1,10 +1,10 @@
 #include "Rover.h"
 
 /* Functions in this file:
-	void set_next_WP(const AP_Mission::Mission_Command& cmd)
-	void set_guided_WP(void)
-	void init_home()
-	void restart_nav()
+    void set_next_WP(const AP_Mission::Mission_Command& cmd)
+    void set_guided_WP(void)
+    void init_home()
+    void restart_nav()
 ************************************************************ 
 */
 
@@ -14,13 +14,13 @@
  */
 void Rover::set_next_WP(const struct Location& loc)
 {
-	// copy the current WP into the OldWP slot
-	// ---------------------------------------
-	prev_WP = next_WP;
+    // copy the current WP into the OldWP slot
+    // ---------------------------------------
+    prev_WP = next_WP;
 
-	// Load the next_WP slot
-	// ---------------------
-	next_WP = loc;
+    // Load the next_WP slot
+    // ---------------------
+    next_WP = loc;
 
     // are we already past the waypoint? This happens when we jump
     // waypoints, and it can cause us to skip a waypoint. If we are
@@ -32,24 +32,24 @@ void Rover::set_next_WP(const struct Location& loc)
         prev_WP = current_loc;
     }
 
-	// this is handy for the groundstation
-	wp_totalDistance 	= get_distance(current_loc, next_WP);
-	wp_distance 		= wp_totalDistance;
+    // this is handy for the groundstation
+    wp_totalDistance = get_distance(current_loc, next_WP);
+    wp_distance      = wp_totalDistance;
 }
 
 void Rover::set_guided_WP(void)
 {
-	// copy the current location into the OldWP slot
-	// ---------------------------------------
-	prev_WP = current_loc;
+    // copy the current location into the OldWP slot
+    // ---------------------------------------
+    prev_WP = current_loc;
 
-	// Load the next_WP slot
-	// ---------------------
-	next_WP = guided_WP;
+    // Load the next_WP slot
+    // ---------------------
+    next_WP = guided_WP;
 
-	// this is handy for the groundstation
-	wp_totalDistance 	= get_distance(current_loc, next_WP);
-	wp_distance 		= wp_totalDistance;
+    // this is handy for the groundstation
+    wp_totalDistance = get_distance(current_loc, next_WP);
+    wp_distance      = wp_totalDistance;
 }
 
 // run this at setup on the ground
@@ -61,27 +61,27 @@ void Rover::init_home()
         return;
     }
 
-	gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
+    gcs_send_text(MAV_SEVERITY_INFO, "Init HOME");
 
     ahrs.set_home(gps.location());
-	home_is_set = HOME_SET_NOT_LOCKED;
-	Log_Write_Home_And_Origin();
+    home_is_set = HOME_SET_NOT_LOCKED;
+    Log_Write_Home_And_Origin();
     GCS_MAVLINK::send_home_all(gps.location());
 
-	// Save Home to EEPROM
-	mission.write_home_to_storage();
+    // Save Home to EEPROM
+    mission.write_home_to_storage();
 
-	// Save prev loc
-	// -------------
-	next_WP = prev_WP = home;
+    // Save prev loc
+    // -------------
+    next_WP = prev_WP = home;
 
-	// Load home for a default guided_WP
-	// -------------
-	guided_WP = home;
+    // Load home for a default guided_WP
+    // -------------
+    guided_WP = home;
 }
 
 void Rover::restart_nav()
-{  
+{
     g.pidSpeedThrottle.reset_I();
     prev_WP = current_loc;
     mission.start_or_resume();